Real-Time Needle Force Modeling for VR-Based Renal Biopsy Training with Respiratory Motion Using Direct Clinical Data

<div>The entire simulation system of the biomechanics experiment. 1: acquisition software; 2: multichannel data conversion card; 3: servomotor controller; 4: servomotor actuator; 5: linear guideway (vertical); 6: connector; 7: force sensor (ATI Nano17); 8: surgical trocar needle; 9: biopsy sample; 10: linear guideway (horizontal); 11: power supply.</div>

Applied Bionics and Biomechanics

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Figure 1

Figure 1: Real-Time Needle Force Modeling for VR-Based Renal Biopsy Training with Respiratory Motion Using Direct Clinical Data 